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contact constraints: skip common dofs #1233

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contact constraints: skip common dofs #1233

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15 changes: 12 additions & 3 deletions mujoco_warp/_src/constraint.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1744,12 +1744,14 @@ def _contact_pyramidal(
da2 = int(body_dofadr[body2] + body_dofnum[body2] - 1)

if is_sparse:
# count non-zeros
pda1 = da1
pda2 = da2
rownnz = int(0)
while pda1 >= 0 or pda2 >= 0:
da = wp.max(pda1, pda2)
# skip common dofs
if pda1 == da and pda2 == da:
break
if pda1 == da:
pda1 = dof_parentid[pda1]
if pda2 == da:
Expand All @@ -1771,7 +1773,7 @@ def _contact_pyramidal(

while True:
if is_sparse:
if da1 < 0 and da2 < 0:
if nnz >= rownnz:
break
else:
if dofid < 0:
Expand Down Expand Up @@ -1828,6 +1830,8 @@ def _contact_pyramidal(
efc_J_colind_out[worldid, 0, sparseid] = dofid
efc_J_out[worldid, 0, sparseid] = J
nnz += 1
if nnz >= rownnz:
break
else:
efc_J_out[worldid, efcid, dofid] = J
Jqvel += J * qvel_in[worldid, dofid]
Expand Down Expand Up @@ -1984,6 +1988,9 @@ def _contact_elliptic(
rownnz = int(0)
while pda1 >= 0 or pda2 >= 0:
da = wp.max(pda1, pda2)
# skip common dofs
if pda1 == da and pda2 == da:
break
if pda1 == da:
pda1 = dof_parentid[pda1]
if pda2 == da:
Expand All @@ -2005,7 +2012,7 @@ def _contact_elliptic(

while True:
if is_sparse:
if da1 < 0 and da2 < 0:
if nnz >= rownnz:
break
else:
if dofid < 0:
Expand Down Expand Up @@ -2050,6 +2057,8 @@ def _contact_elliptic(
efc_J_colind_out[worldid, 0, sparseid] = dofid
efc_J_out[worldid, 0, sparseid] = J
nnz += 1
if nnz >= rownnz:
break
else:
efc_J_out[worldid, efcid, dofid] = J
Jqvel += J * qvel_in[worldid, dofid]
Expand Down
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